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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +129 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.one/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.one/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.two/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.two/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick the yellow block and put it into the bin"], "length": 868}
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{"episode_index": 1, "tasks": ["pick the yellow block and put it into the bin"], "length": 521}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.5262244939804077, -0.008795619010925293, -0.812447190284729, 0.0, -0.007700920104980469, -0.011957628652453423, -0.0014870259910821915], "max": [0.7073373198509216, 1.7337453365325928, 0.0028648972511291504, 0.0, 0.6012483835220337, 0.20666655898094177, 0.07927237451076508], "mean": [0.372780442237854, 1.0529725551605225, -0.5214076638221741, 0.0, 0.37626123428344727, 0.054287686944007874, 0.03245379775762558], "std": [0.35008105635643005, 0.5748271346092224, 0.2852131128311157, 0.0, 0.23980382084846497, 0.0775577574968338, 0.03694077581167221], "count": [868]}, "observation.state": {"min": [-30137.0, -2143.0, -46540.0, -1086.0, -826.0, -553.0, 0.0], "max": [40294.0, 99259.0, 2295.0, 453.0, 34954.0, 11761.0, 78100.0], "mean": [20931.48828125, 60922.98046875, -30170.58984375, -2.2073733806610107, 21735.732421875, 3153.702880859375, 37117.28125], "std": [20466.32421875, 32535.37890625, 16233.212890625, 49.381656646728516, 13678.279296875, 4427.9853515625, 33313.62890625], "count": [868]}, "observation.images.one": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3924668912114112]], [[0.42722733485427716]], [[0.4000034568072512]]], "std": [[[0.29444645625251203]], [[0.30066442326786136]], [[0.30087268321596905]]], "count": [159]}, "observation.images.two": {"min": [[[0.12156862745098039]], [[0.16862745098039217]], [[0.12941176470588237]]], "max": [[[0.8745098039215686]], [[0.8352941176470589]], [[0.8509803921568627]]], "mean": [[[0.49908709715542404]], [[0.5204530472828544]], [[0.5056918495909895]]], "std": [[[0.23148592501217463]], [[0.22271409880439266]], [[0.23325937573559943]]], "count": [159]}, "timestamp": {"min": [0.0], "max": [28.9], "mean": [14.450000000000003], "std": [8.352328351357416], "count": [868]}, "frame_index": {"min": [0], "max": [867], "mean": [433.5], "std": [250.56985054072248], "count": [868]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [868]}, "index": {"min": [0], "max": [867], "mean": [433.5], "std": [250.56985054072248], "count": [868]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [868]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-0.44969066977500916, -0.00025093555450439453, -0.7833055257797241, 0.0, -0.010552138090133667, -0.006638705264776945, -0.0009686257690191269], "max": [0.4871622920036316, 1.7013598680496216, 0.0015173554420471191, 0.0, 0.5116757154464722, 0.0028887116350233555, 0.07948540151119232], "mean": [0.16937170922756195, 0.8702200651168823, -0.4068078100681305, 0.0, 0.2608599364757538, -0.0010614324128255248, 0.022902170196175575], "std": [0.3068079948425293, 0.6381444334983826, 0.31137752532958984, 0.0, 0.22758576273918152, 0.0017550935735926032, 0.03416798263788223], "count": [521]}, "observation.state": {"min": [-25752.0, 0.0, -44941.0, 0.0, -1829.0, -415.0, 0.0], "max": [27943.0, 97567.0, 0.0, 0.0, 29800.0, 0.0, 78100.0], "mean": [9071.5205078125, 50178.5859375, -23731.328125, 0.0, 15347.20703125, -6.111324310302734, 29768.90625], "std": [17719.55859375, 36187.48046875, 17780.197265625, 0.0, 12974.232421875, 49.075645446777344, 31413.009765625], "count": [521]}, "observation.images.one": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.382810195178989]], [[0.42435332906098217]], [[0.39666043428074593]]], "std": [[[0.2942347832359787]], [[0.2995287422953814]], [[0.30088022449416685]]], "count": [109]}, "observation.images.two": {"min": [[[0.11764705882352941]], [[0.14901960784313725]], [[0.12549019607843137]]], "max": [[[0.9607843137254902]], [[0.8274509803921568]], [[0.8352941176470589]]], "mean": [[[0.43212222859327215]], [[0.4482957628770162]], [[0.43141456796785993]]], "std": [[[0.2260100766979435]], [[0.22097610627005657]], [[0.22930274848875207]]], "count": [109]}, "timestamp": {"min": [0.0], "max": [17.333333333333332], "mean": [8.666666666666666], "std": [5.013315602805526], "count": [521]}, "frame_index": {"min": [0], "max": [520], "mean": [260.0], "std": [150.3994680841658], "count": [521]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [521]}, "index": {"min": [868], "max": [1388], "mean": [1128.0], "std": [150.3994680841658], "count": [521]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [521]}}}
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meta/info.json
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{
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meta/tasks.jsonl
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{"task_index": 0, "task": "pick the yellow block and put it into the bin"}
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videos/chunk-000/observation.images.one/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7b3820a614e480972071b2e0b08fed148826c5dfd305ad5753c374b74b50d677
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size 13835238
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videos/chunk-000/observation.images.one/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.two/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 4982427
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videos/chunk-000/observation.images.two/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:b1ad5effbcbeb3c925d67bae15142f2ce7598243cb6b67c17ca068374c30a78e
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size 3040540
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